mrpt::vision::pinhole Namespace Reference

Functions related to pinhole camera models, point projections, etc. More...

Functions
void VISION_IMPEXP	projectPoints_no_distortion (const std::vector< mrpt::poses::CPoint3D > &in_points_3D, const mrpt::poses::CPose3D &cameraPose, const mrpt::math::CMatrixDouble33 &intrinsicParams, std::vector< mrpt::vision::TPixelCoordf > &projectedPoints, bool accept_points_behind=false)
	Project a set of 3D points into a camera at an arbitrary 6D pose using its calibration matrix (undistorted projection model).
void VISION_IMPEXP	projectPoints_with_distortion (const std::vector< mrpt::poses::CPoint3D > &in_points_3D, const mrpt::poses::CPose3D &cameraPose, const mrpt::math::CMatrixDouble33 &intrinsicParams, const std::vector< double > &distortionParams, std::vector< mrpt::vision::TPixelCoordf > &projectedPoints, bool accept_points_behind=false)
	Project a set of 3D points into a camera at an arbitrary 6D pose using its calibration matrix and distortion parameters (radial and tangential distortions projection model).
void VISION_IMPEXP	undistort_points (const std::vector< mrpt::vision::TPixelCoordf > &srcDistortedPixels, std::vector< mrpt::vision::TPixelCoordf > &dstUndistortedPixels, const mrpt::math::CMatrixDouble33 &intrinsicParams, const std::vector< double > &distortionParams)
	Undistort a list of points given by their pixel coordinates, provided the camera matrix and distortion coefficients.

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Detailed Description

Functions related to pinhole camera models, point projections, etc.

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Function Documentation

void VISION_IMPEXP mrpt::vision::pinhole::projectPoints_no_distortion	(	const std::vector< mrpt::poses::CPoint3D > &	in_points_3D,
		const mrpt::poses::CPose3D &	cameraPose,
		const mrpt::math::CMatrixDouble33 &	intrinsicParams,
		std::vector< mrpt::vision::TPixelCoordf > &	projectedPoints,
		bool	accept_points_behind = false
	)

Project a set of 3D points into a camera at an arbitrary 6D pose using its calibration matrix (undistorted projection model).

Parameters:

	in_points_3D	[IN] The list of 3D points in world coordinates (meters) to project.
	cameraPose	[IN] The pose of the camera in the world.
	intrinsicParams	[IN] The 3x3 calibration matrix. See http://www.mrpt.org/Camera_Parameters
	projectedPoints	[OUT] The list of image coordinates (in pixels) for the projected points. At output this list is resized to the same number of input points.
	accept_points_behind	[IN] See the note below.

Note:

Points "behind" the camera (which couldn't be physically seen in the real world) are marked with pixel coordinates (-1,-1) to detect them as invalid, unless accept_points_behind is true. In that case they'll be projected normally.

See also:

projectPoints_with_distortion

void VISION_IMPEXP mrpt::vision::pinhole::projectPoints_with_distortion	(	const std::vector< mrpt::poses::CPoint3D > &	in_points_3D,
		const mrpt::poses::CPose3D &	cameraPose,
		const mrpt::math::CMatrixDouble33 &	intrinsicParams,
		const std::vector< double > &	distortionParams,
		std::vector< mrpt::vision::TPixelCoordf > &	projectedPoints,
		bool	accept_points_behind = false
	)

Project a set of 3D points into a camera at an arbitrary 6D pose using its calibration matrix and distortion parameters (radial and tangential distortions projection model).

Parameters:

	in_points_3D	[IN] The list of 3D points in world coordinates (meters) to project.
	cameraPose	[IN] The pose of the camera in the world.
	intrinsicParams	[IN] The 3x3 calibration matrix. See http://www.mrpt.org/Camera_Parameters
	distortionParams	[IN] The 4-length vector with the distortion parameters [k1 k2 p1 p2]. See http://www.mrpt.org/Camera_Parameters
	projectedPoints	[OUT] The list of image coordinates (in pixels) for the projected points. At output this list is resized to the same number of input points.
	accept_points_behind	[IN] See the note below.

Note:

Points "behind" the camera (which couldn't be physically seen in the real world) are marked with pixel coordinates (-1,-1) to detect them as invalid, unless accept_points_behind is true. In that case they'll be projected normally.

See also:

projectPoints_no_distortion

void VISION_IMPEXP mrpt::vision::pinhole::undistort_points	(	const std::vector< mrpt::vision::TPixelCoordf > &	srcDistortedPixels,
		std::vector< mrpt::vision::TPixelCoordf > &	dstUndistortedPixels,
		const mrpt::math::CMatrixDouble33 &	intrinsicParams,
		const std::vector< double > &	distortionParams
	)

Undistort a list of points given by their pixel coordinates, provided the camera matrix and distortion coefficients.

Parameters:

	srcDistortedPixels	[IN] The pixel coordinates as in the distorted image.
	dstUndistortedPixels	[OUT] The computed pixel coordinates without distortion.
	intrinsicParams	[IN] The 3x3 calibration matrix. See http://www.mrpt.org/Camera_Parameters
	distortionParams	[IN] The 4-length vector with the distortion parameters [k1 k2 p1 p2]. See http://www.mrpt.org/Camera_Parameters